#ifdef __ANO_H__
#define __ANO_H__

#define ANGLE_TO_RADIAN 0.01745329f //*0.01745 = /57.3	角度转弧度

#define IMU_INTEGRAL_LIM  ( 2.0f *ANGLE_TO_RADIAN )
#define NORM_ACC_LPF_HZ 10  		//(Hz)
#define REF_ERR_LPF_HZ  1				//(Hz)

typedef struct
{
	float x;
	float y;
	float z;
}xyz_f_t;

typedef struct
{
	s16 x;
	s16 y;
	s16 z;

}xyz_s16_t;


typedef struct
{
	xyz_f_t err;
	xyz_f_t err_tmp;
	xyz_f_t err_lpf;
	xyz_f_t err_Int;
	xyz_f_t g;

}ref_t;


#define GYRO_DEATH_ZOOM 20   //  20 / 65536

#define OFFSET_AV_NUM 50
#define FILTER_NUM 10




#endif
